• Journal of Biomedical Engineering Research
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• v.17 no.1
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• pp.1-10
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• 1996

In this paper, describe the automatic climbing wheelchair system use an articulated crawler mobile robot. This wheelchair system(call system) is composed of sensor detecting part and wireless communication part with PC. The sensor parts are consisted of sloping sensor and ultrasonic sensor part. The sloping sensor measures the sloping angle of system, and the ultrasonic sensor measures the distance of system's front wheel center from stair. PC will generate the operation data to climb up the stair using the measured data and make primitives for the system. At firsts This system transfer from sensor data to the PC. PC calculate the operation data to climb up the stair from the internal algorithm. We simulated the system in various stair angle slope($25^{\circ}$, $30^{\circ}$, $45^{\circ}$), and tested it on the real staircase with width 37cm, highlt 18cm, Angle $26^{\circ}$ . There were $0.350^{\circ}$ - $1.060^{\circ}$ Angle errors while climbing because adapted sensor has a precision $0.35^{\circ}$ in resolution. Finally, We implemented the sensor detecting part and the wireless communication park and practiced our system in 4cm/sec speed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.181-182
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1435-1436
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1303-1304
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1401-1402
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• 2011

• Journal of IKEEE
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• v.25 no.2
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• pp.362-370
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• 2021

In this paper, we propose the Autonomous Stair-climbing system based on data from ToF sensors and IMU in developing stair-climbing robots to passive wheelchair users. Autonomous stair-climbing system are controlled by separating the timing of landing gear operation by location and utilizing state machines. To prove the theory, we construct and experiment with standard model stairs. Through an experiment to get the Attack angle, the average error of operating landing gear was 2.19% and the average error of the Attack angle was 2.78%, and the step division and status transition of the autonomous stair-climbing system were verified. As a result, the performance of the proposed techniques will reduce constraints of transportation handicapped.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.749-750
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1243-1244
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• 2013

• Journal of IKEEE
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• v.26 no.4
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• pp.602-613
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• 2022

This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving the stairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, the change of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as a control variable and the information of the wheel drive controller. The verification confirmed the correction of about 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by 47.5% in seat position change.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.9
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• pp.4119-4125
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• 2012

The purpose of this study was to identify the validity, reliability, and discriminative index of the Korean version of Modified Barthel Index (K-MBI). For this, two hundreds twenty-thee stroke patients participated. Activities of daily living were measured through using K-MBI. Factor analysis was performed for identifying the construct validity and internal consistent and discriminative index were calculated. The result of factor analysis was that the 10 items of K-MBI have communality above .50, and was constructed one factor. Explained variance was 72.184%. The order of factor loading value was toileting, personal hygiene, transfer from bed to chair and back, ambulation/wheelchair, dressing, feeding, bowel control, bathing, bladder control, and stair climbing. Cronbach ${\alpha}$ of K-MBI was .994. The range of discriminative index was .783~.909, and was acceptable. One factor of K-MBI was identified through factor analysis, and reliability and discriminative index was also identified. Various psychometric properties of K-MBI should be investigated in further studies for valid assessment of activities of daily living in stroke patients.